Lý thuyết điều khiển tự động

! "# $ % & ' () *(+ ,#*$+ -)

/

+ ,?( , 0; ) " #$ % & :FA : 1( 'GE

N #$ % 0& "5 ($8 :FA : 1( 'GE

E

# ' EFGHIJ &;GHKC "LM FNOCPQ 6 > 9 2

RS ";JRHT" FGHIJ &;GHKC "LM FNOCP 6 1 3 )

#!WG "!O FGHIJ &;GHKC "LM FNOCP 1 '

4 1 > 9 2 RS ";JRHT" FGHIJ &;GHKC "LM FNOCP

56561 ' 7 8 9:

=0 , ( +$ 08 % 9 0& R ; >F 7P ) )7FA !F / A! O$ >F/* , $* ;, " #$ % & / A a #$ % & / A )Lbc & (0 % ! > #

" #$ % & ( $ ) , Q , >? @$1 6 $ 8 678 ( $ ) , " ) / Q,: + "7FA )d ( $ ) , !$0; Q ( 1* >F ,0;( "0 (0; "5 3<-6e &

" 1, "7F1( " #$ A* ! -, ( $ ) , 9 8 O$ 6 , "0# ) 0# "0 ,0;( "0

" & R ;, "7F1( ,0;( "0 ($8 Q " ) ( 1* ;$ ,0;( "0 Q @7F 3<-6e, L , , f ) ) d ;$ ,0;( "0 Q ,: + 3<-6e , L , ) 8! ) ;, O$ 8($8 O$ ,:L ,: + / A Q 6 P ( 1* >F ,0;( "0 a) # c R Y ) ,0;( "0

!0 ) !$0; S$ ,:L / Q 7 > * ( ? / A O$ ,:L " #$

% & :0 ) O$ ,:L " #$ % & ( $ ) , ( # , $ , 9 , 0+ ), > # "0; ,7F1 ) ( # " #$ % & gO$ 6 , "0# ) 0# "0 ,0;( "0 " &, $ , 9 , 0+ ) , > # ,0;( "0 Q hd ,$A* , 0 , 0+ ) , , $ , 9 "7F1(

> A !$1( "?( " #$ % & ! A ( $ ) , (0 ( ( Q78 /* , ?( F19gO$* ;, "5 , f ) * ) 8! ) hd ($0; ($A ) , 9 8 , ( "0 ) > A0 "0;,7F1 ) g, ( "0 ) > A0 , * ) h " & 0 1, "0 ) ($8 "0; ,7F1 ) , 0 "$ )

!0 , ( ( ,0 A > A ( ? Q ( :0 ) (0+ ) ) 9d ( ( O$ ,:L

6 8 Q$ ;, R 0 )0#! >0+ 60; !$1( , +$ 6 8 Q$ ;, , 08 ! P ( ( "0A 08

> # 671 ,0 A d "0 ( ? Q ( > A $ O$ 8 % , ;

:0 ) 7P ) f! ) # " +*d ( ( , 0; ) " #$ % & g h( A ) (0 > ,:0A O$ ,:01 ) ,:0 ) > ( 9 , ,: & > A 671 , ; R0 ($8

%*P , $ , (0+ ) ) > A > f ! " 1 71( , ; !0j % ? ( 1($8 0 1, "0 ) Y ) ) A* " #$ R5 ( 9 0; RF8 !0 , > A /0 1, 0; ) " #$ % & U j @ A ) ,L! , ;* , 0; ) " #$ % & ! *(0+ ) ($1d %*P , $ , % 0+ ) ) > A , 0; ) >$P % ?d " #$ % & ! *,? d ( ( , 0; ) ) 0 , 0+ )d , 0; ) f ) /7F1 )d :0R0,d) * ( 8 ( ( > ; " # 7 % &! ,0 > A , 0; ) % , ; Q P 0 ($P ) 9 @$1 ) ,7A /* , $* ;, " #$ % & ,71 "0 )

& , 71( "7F1( O$ ,:L " #$ % & 7 "5 ) i F8,: + d !0 , , 0; ) " #$ % & R -, R$0 ( )0#! (0 R , A 9 # (F

:0 ) /i >71( " #$ % & ,71 "0 ) (0 : ;, #$ R A ,0 ( #) 8 O$* ;,d ,$* + ( ( R A ,0 " #$ % & ,:0 ) , 71( , ; (0 , &O$* > A0 R R A ,0 (F R 8 6 $k

+ ,?( , 0; )k 0 , 0; ) ,71 "0 ) " P R ;, ( ;$ ,:$(

> A , 0+ ) 60; T A ,0 " K, : / A ,: + (F 6F8 7P ) , 0+ ) , " P R ;,,L! " 9 7 ) ($8 , 0; ) > A " ) ( ;, /7F1 ) ($8 T A ,0A* /$0+ ) 8 "7F1(

;, % ; , 0; )k T ;, ( ;$ ,:$( > A , 0+ ) 60; ($8 "0; ,7F1 )

" #$ % & T A ,0 " K, : / A , ;, % ; R0 " #$ % & " & "7F1(, 0; ) , 08 ! P ( ( * +$ ( #$ > # ( ;, /7F1 ) T A ,0 0 ( $ ) / A) 8 "7F1(

@ 1 ) , 0; )k 7 R ;, ( ;$ ,:$( > A , 0+ ) 60; ($8, 0; ) ; " # " K, : / A Q ( "5 ( ;$ ,:$( > A , 0+ ) 60; ($8, 0; ) T A ,0 A* % 0+ ) 9 8 /$( A0 ($P ) ) 8 "7F1(

S$* & 6 ( A* ( ^ " # ( 9 " ; R A ,0 9 + ,?( , 0; )

> A , ;, % ; , 0; ) T A ,0 @ 1 ) , 0; ) 6 P "7F1() + (7$ ,:0 ) !0+ 01( % (

"0; ,7F1 ) > A !0 , ,7A "0; ,7F1 ) )7F1( > # R0 " #$ % & g@0A ), 0+ ) , )7F1( )01 / A 0# , ;9h #$ % & % 0+ ) 0# , ;9 g" #$

% & >0A ) F8h % 0+ ) , & " 1, ( ;, /7F1 ) ( 0d ;, / A % (0j$

( 6F "0# " #$ % & @71 ,: + )$* + , -( , 0+ ) , 9 8 0# / Ak

F - 2 1 D g hk / A 6F "0# " #$ % & , 0 )$* +, -( R$A j$ " & " 1, " #$ : ( ) !0 ) !$0; ! A % 0+ ) ( # O$

6 , ,? $ : ( ) # )$* + , -(d "0; >F 9 7( , 19 , L " #$

% & R$A j$ % 0+ ) , & ( 0 ( ;, /7F1 ) ,0;,

F - 2 ' 1 X ' g 3hk T0 " #$ % & O$ 6 ,,? $ : ( ) d 60 6 >F ,? $ > A0 !0 ) !$0; ( ) " & ,?,0 ,? $ " #$ % & ( ) )$* + , -( " #$ % & A* " #$( ^ / 0 1,d /0 1 6 / ( d , 78 ) ! > A 678 6 +* / A)$* + , -( (F R 8 ,:0 ) " #$ % &

F - 2 3 3 ( , 0; ) " #$ % & ( ;, /7F1 ) ( 0, 7FA ) 9 0; F19 6F "0# " #$ % & R$A j$ > A " #$ % & 6

R Y ) 6 / ( 7 L 2

/ 0 1 )$* + , -( " @ 1 ) ,7F ) Q7 )

=$0; O$ ,:L " #$ % & (0 ( ;, /7F1 ) , L 671 " @ 1 ) ($8R0 " #$ % & 9 8 ,7F ) Q7 ) >F 671 " @ 1 ) ($8 "0; ,7F1 ) ?

" @ 1 ) ($8 R0 " #$ % & , & F8 % 8 f ) , $ , 9 , 0+ ), d /7$ ,:7P , 0+ ) , d ,:$* # , d 9 + ,?( Q78 /*d ( 01 O$* ;,

"5 d _D ) i ($8 )$* + , -( A* / A ( # , ;, % ; R0 " #$ % &

9 $A F19 >F "0; ,7F1 ) P* 60 6 * +$ ( #$ ( ;, /7F1 ) " #$

/ 0 1 2 )$* + , -( R0& 6$ ) )0 A

=0 , , 0; ) /$0+ ,0# , 1 > A 0 1, "0 ) ,:0 ) !0+ ,:7FA ) ($1, & > A (0 , ( "0 ) O$ / 1 ( K, ( P >F !0+ ,:7FA ) "0 )$* +, -( R0& 6$ ) )0 A , 7A (0 !0 , "0; ,7F1 ) ( 7 R ;, g 0 9 " h, ( "0 ) > A0 , 0; ) > A , 9 8 " #$ % & ( 8 , 0; ) / j 0 9

" _D ) i ($8 )$* + , -( A* / A % , ;, % ; , 0; ) ,71

"0 )d !$0; , 0; ) (0 ( ;, /7F1 ) ( 0 , L % 0+ ) , & R08 O$j$ ($8 !0+ ,:7FA ) , ( "0 ) > A0 , 0; )

/ 0 1 3 )$* + , -( @71 ,:7P

L )$* + , -( /$0+ (0 , 0+ ) , ( 7 " #* "$8 9 8 " # 9 0A )( ( R ;, ,: -( Q 8* : > A % 0+ ) "7F1( @$A ) ,0 A R0 /71( /7F1 ) ,:0 )

% & ) 0 , 0+ ) "0+ , 5 " 1 d , 0; ) " #$ % & @ +* ( $* #

6 8 Q$ ;,

/ 0 1 5 )$* + , -( ( + R Y ) 0

% & , (0 , 0; ) " #$ % & 0& "5 0 d " #$ % & , 0( 7F )d " #$ % & , 0 @0P d

, 0; ) ,$* ; ,? % 0+ ) ,0# , 1 ,:0 ) , 71( , ;d >L , ;, ( 8( ( , 0; ) > , /* " #$ / A 9 ,$* ; , 0; ) " #$ % & ,$* ;,? / A !0+ L /* ,7F8 ) " & "F ) 8 0 O$ ,:L 9 + ,?( > A, ;, % ; , 0; ) ) ,:5 ($8 ,? $ 9 > A0 , 0; ) (0AY! ,:0 ) ) F 1 ! A ( ( 9 # ,78 (0A 0 1, "0 ) ,$* ; ,? g 9

@$1 ) "7F1( )$* + /* Q ;9 ( 0# )hd , L , 0; ) (0A / A ,$* ; ,?

7 ) % ) ,:5 ($8 ,? $ > A0 >7F1, : )0 A >$A ) 0 1, "0 ),$* ; ,? ($8 ( ( 9 # ,78 > A , 0; )d , L % 0+ ) , & Q !, 0; ) / A ,$* ; ,? "7F1( ;, ( 8 ( ( , 0; ) , 71( , ; " #$ (0 " K(,? 9 ,$* ; d >? @$1 R0 % $ ;( " 1 , 7FA ) (0 " K( ,? R P0 0A

% ,? $ > A0 ,:F8 + O$ /F d ,7A ,:7FA ) ($8 "0 ) (F ($P ) (0

" K( ,? R P0 0A :0 ) ,:$* # "0 ) (F % ? " K( ,? 9 ,$* ;, 7FA ) ) K9 9 8 / A % F8 > A >$A ) ( ;, ) 7P ( ( R : f )d " K(,? ! 6 ,d " A 0# 9 ,$* ; ( " K( ,? 9 ,$* ; , 7FA )

"7F1( "7 > A0 Y! ( 8 , ( ;, /7F1 ) * , f ) $ O$ 8

" #$ % & ? @$1 7 " & " 1, , FA ) " #$ % & / A ,0; , &$,:0 ) ( ( , 0; ) , + /78 * " #$ % & 9 ,$* ; )7FA , 678

@$1 ) R0 " #$ % & 0 Z0mm gR )ZR ) * : / *h ( 0; ) 9 8/71( "7F1( " K, ( 1 "0 ) (F " & , 10 : !0+! 9 8 /71( " #$ % &( 0; ) A* , 7FA ) "7F1( " #$ % & , 0 % &$ m$// 0 Z m$// 0mmd

) i / A !0 , /7F1 ) % ? 19 > A0 !0 , 0; ) "5 ,:7F( ,:0 ) % 0 8 ), FA ) Q ( "5 d " & " #$ % & ,7 , ; ($8 9 ,$* ;

:0 ) O$* & 6 ( A*d , 0; ) ,$* ; ,? "7F1( "7 : 9 +,?( > A , ;, % ; ( ? * ;$ (0 , & 9 @$1 ) ( ( %*P , $ , 9 + ,?(

> A "0# 01 ( 9 ,$* ; % 0 Q78 /* , 0 ,0 01( > A ($P )( 7 (0 !0 , 9 7F ) 9 9 ( $ ) A0 " & ) 8 O$* ;, ( 0 ( 8 !0 , /F9

9 ,$* ; :0 ) , ;, % ; , 0; )d , 71( , ; R " #$ , ;, % ;R0 " #$ % & @71 ,: + !0+ L ,$* ; ,? R Y ) ( ( /0 1 R08( ( " K( ,? 9 ,$* ; T0 " #$ % & " P , ;, % ; "7F1( 9 @$1 )

@ +* O$ ; "0 ) (F R5 , * "0& % !F R5 %?( * , "0 , f )

=0 , >? @$1 % ( > # R ; "0& , 0 , FA ) / A " #$ % &, + /78 d ,:0 ) "0 % 0; /7F1 ) ($8 , + /78 R5 ) 8! ,:0 ) O$ ,:L

R * = K( @$A , 0; ) R ; "0& , 0 , FA ) % 0+ ) (0 " K( ,?

9 ,$* ; d > j "7F1( (0 / A ,$* ; ,? d 7 ) > ( 9 + ,?( > A, ;, % ; /0 1 , 0; ) A* 9 7( , 19 F #$ 60 >F ,$* ;,? R ;, R ; , 0 , FA )

, 0; ) / + ,$1( / A , 0; ) ! A ,? $ F8 R ;, %*A 9 # A0($8 ($P ) / A A! / + ,$1( , 0 , FA ) :0 ) , ;, ( 8 ( (

/ + ,$1(d ,? $ "7F1( 9 + , A * U !

> A U % 0+ ) ) 0; ) ,:0 ) %*P , $ , " ! A ! ) * ) i( $* + !0+ ,:0 ) , $ , )7P (0 ) i / A , ;, ( 8( ( ,? $ ,:0 ) , 0; ) " #$ "7F1( " #$ ( ; R Y ) > A @ 1 ) 6F

"0# " #$ ( ; U "7F1( &$ "F ) 8 / A (0 ( ( ,? $

% 0+ ) "7F1( " #$ ( ;d 7 ) > j (0 ,? $ Q0 * ( #$ L G/ A 6F "0# !0 , U %? > A @ 1 ) 60 ) " 9 7 ) O$ "0 ($8

( , A 9 # ($8 U / A R ; ,:F8d % $ ;( " 1 U d "0 )(F U d , ( 0! , : U

L N / A 6F "0# !0 , (0 ($A ) ( 7( f ) 7F8 L G :0 ) ,:7FA ) F19 A*d ,? $ ,:0 )

" #$ "7F1( " #$ ( ;d ) i / A , 0+ ) , "7F1( ,:$* # " FA !0 ,

60 ) ! ) $ * : Y ) R ; " #$ % & " #$ : ($8 "0;,7F1 ) > j ) 0; ) 7 F8 U "7F1( 678 @$1 ):0 ) : P ,:0 ) , 0; ) " #$ % & ! * R * > A , + /78 d F8 "0j$ > A ,? $ / 1 / A > ; " # 9 8 O$ , +! F , # 60;

60 ) ! ) ,7A 3<< \ ,:F8 / + d /0 1 R08 "7F1( 9 #/F

( >F / + ,$1(d :FA : 1( (0 ,? $ F8 !0 , *

#$ " &! ,:0 ) , 0; ) / A @ 1 ) ( $0j Q$ ) * ! P 60; 0+ ), 7FA ) :FA : 1( "7F1( 9 + / A! /0 1 k / ;* ! j$ @7P/ $ > A 60; / ;* ! j$ @7P / $ F8 @ 1 ) @7P / $ Q$ )

60; / + O$ " ; 678 @$1 ) ! * ,? 60; * R0 " #$ % &60; >L > * ,? $ ,:0 ) "7F1( ! P 60; 0 d ! P 60; 5 9 +( ` ) 1

0 ( $ )d !0 , / ;* ! j$ @7P / $ ( ^ @7P / $ *, 0+ ) , ,:0 ) !0 , % 0 8 ) , FA ) Q ( "5 Y) @ ,? $

6 / ( ($8 ( ^ (0 , & "7F1( ($ ) ( ;9 @7F @ 1 ) Q$ ) > A,:0 ) % 0 8 ) , FA ) ) 7P Q$ ) / + , ;9 6 P % 0+ ) "7F1( , 0+ ) , > # ,? $ 6 / ( / ;* ! j$ @7P / $(0 , & Q ! / A !0 , >L ,? $ ,:0 ) , 0; ) "7F1( " #$( ; Q$ )

L ! 01 0 1, "0 ) ($8 !0 , , 0; ) / ;* ! j$ @7P/ $ ? $ / + ,$1( ] ^ "7F1( "7 > A0 , 0; )d ,? $ 6/ ( ] ^ "7F1( / ;* ! j$ RF8 , ;, R5 / ;* ! j$d )0P : ($8 , ;, R5/ ;* ! j$ / A ( $0j Q$ ) ,$ # ,71 0;( "0 / ;* ! j$ (0 , & , 0; ) ;,

0 K( % 0+ ) =0 , ,:0 ) 7P ) 7$ " &! O$ ,:01 ) ($8 , 0 , (/ ;* ! j$ / A ( ( , ;, R5 " -, , # ,:0 ) (0 , & ( 6 8 , FA )

" & @$A ) ( $ ) ,: + #$ % + " #$ % & =0 , /F1 " &! % ( / Aj$ ?, F

U0 ! * ,? ($ ) ( ;9 #$ , ?( > A ! #! @ 80d " #$ % &

R Y ) ! * ,? ) A* ( A ) 9 0& R ; #$ , 0; ) > , 8 A )

% 0+ ) 678 @$1 ) A ) ) A ( ( / % :FA : 1( ( ^ ( ;! !0 ,

% 0 8 ) % 0+ ) % 0+ ) /F F O$* & 6 ( A* L < ,:L

R A* ( ( , A 9 # (F R 8 ($8 R0 9 ,71 / ,:0 ) " #$ % &, + /78

;$ ] ^ / A !0 , A! "5 ,:7F( , 0 , FA ) d * +$ ( #$ " 9

7 ) : ($8 , 0; ) 6 0 ( 9 / 1 ( ( ) ,:5 ($8 ,? $ > A0 ] ^, L , (0 , 0; ) " #$ % & , 0 ( 7F ) ,:L

? @$1 , 0; ) " #$ % & ! * (0+ ) ($1 d " #$ % & ,71

"0 ) A ! * Q ! f ) 0 A ) 1( d , 0; ) , $ 9 > A,:$* # 60; / $ , 0; ) " d O$ 8 /* > , ,7 F8 A ! *

" & , ?( F19 " & , ;, % ; , 0; ) !0 , )0P > A0 Z !0 , )0P :

gH H k ' \ 3 e' \ 3 hd : ;, % 0 9 @$1 ) ( 0 ( (, 0; ) #$ )0P > A0 Z #$ )0P : g= = k 6 \ 3 e6 \

3 h > A ( ( , 0; ) R ; "0& , 0 , FA )

( 9 7F ) 9 9 9 + ,?( > A , ;, % ; , 0; ) ,:0 ) /*, $* ;, " #$ % & % " & )0#! (0 9 7F ) 9 9 *O$ 6,d T0@ d

> A 9 7F ) 9 9 O$*P " 10 ) ! 60; & , ;, % ; , 0; ) @$A )

9 7F ) 9 9 *O$ 6, > A T0@ ( # !0+ , 8 , 0; ) @7F @ 1 ) " 9

7 ) , # 60; g" 9 7 ) R + "0 > A " 9 7 ) 9 hd " +* / A !0 , , $ /F1 >L " 9 7 ) , # 60; (0 , & "0 "7F1( R Y ) , 71( ) ! =0+ , 8, 0; ) ( # " & , ;, % ; @$A ) 9 7F ) 9 9 O$*P " 10 ) ! 60; / AA! ,:$* # d A! ,:$* # ($P ) (0 , & ,? "7F1( ,7A " 9 7 ) , # 60;A! ,:$* # ($8 ( ( , 0; ) 9 7( , 19 "7F1( ,? R Y ) ( ( 678

@$1 ) 6F "0# % 0; * 6F "0# @0A ) ,? $ =0+ , 8 ( ? Q ( " K(,? "0 ) 01( R + ,:0 ) , 0; ) / A % 0+ ) ( # , ;, "0; >F ( (

9 7F ) 9 9 , ;, % ; % " & d ( ^ (0 O$ ) 7P )0P > A0 > A)0P : / A O$ ,:01 )

( % +$ $ ( ^ "F ) 8 7 $ ( ^ > ,?( 9 + ,^/ U g 3 G _ 4 4 hd $ ( ^ 6F! ,: j 9 d, 7FA ) "7F1( 678 @$1 ) ,:0 ) ( ( , 0; ) " #$ % & % " &

R " #$ "7F1( 9 , ,: & ( $8 * ;$ ( 0 ,$* ; ,? d 6 $ "0 "7F1(

!F8 :0 ) ( 0 9 ,$* ; R Y ) ( ( 678 @$1 ) /* , $* ;, ($84* 9$ 0>

T0 " #$ % & "7F1( 678 @$1 ) ( $8 * ;$ ,:0 ) , ;, % ; , 0; )

" #$ % & " 1 / A R0 " #$ % & 0# , ;9 ,: 1 ) , $A*, 0 ( ( ,? > (,0: 0# , ;9 ,: 1 ) , ! A , (0 9 7F ) 9 9

9 + R0; (71(d " #$ % & ,0; 7$d " #$ % & R # >7P )

F 671 9 , ,: & ($8 /* , $* ;, " #$ % & 60; > A , 0; ) :FA: 1(d /* , $* ;, " #$ % & " 1 : ;, , ?( F19 " & , ;, % ; ( (R0 " #$ % & / A ( ( ( 7F ) ,:L 9 # ! #! ( 1* ,: + > Q78 /*

> A ! * ,? 60; #$ A* ( 0 9 9 , 71( , "7F1( ( ( R0 " #$

% & (0 " K( ,? "0 ) 9 7( , 19 F ($P ) 7 $ O$ 8 F 60

>F ( ( R0 " #$ % & "F ) 8 7 U * 6F! ,: j 9 ,:0 ) /*, $* ;, % " &

#$ % & % " & > A " #$ % & " 1 d )01 ( $ ) / A

" #$ % & , 0+ ) , 7FA ) g 4 h (0 % $* ;, " &! / A

" & , ;, % ; "7F1( , 0; ) " #$ % & ( # 9 8 R ;, !0+ L ,001( ($8 "0; ,7F1 ) :0 ) % "0 , 71( , ; (0 7P ) "0; ,7F1 ) " #$

% & : ;, 9 7( , 19d : ;, % 0 0 K( % 0+ ) , & Q ( "5 "7F1( !0+

L ,0 ( 9 7F ) 9 9 " #$ % & , 0+ ) ! 7 " #$

% & !FAd ! 1 ) , # % + , 10d , $ , ,0 @ ,:$* # !0+

9 08 )eR -, ( 7F( ( ( , 0; ) , 0+ ) ! 6 01(d > # )$* +, -( % 0+ ) ( # @$A ) !0+ L ,0 01( " & , ;, % ; , 0; )d @0 "0(0 % 8 f ) 7 ) @$1 ) , 71( , ; : ;, /F $* ;, " &! ($8 " #$

% & !FA / A O$ ,:L , ;, % ; ! ) ,? , 78 6 d @71 > A0 %) ! ($8 ( $* + ) FA % ;, F19 /0) ( !FA >F ! 1 ) , #

% + , 10 * , $ , ,0 @ ,:$* # ! A , 0+ ) 60; R0 " #$

% & !FA (0 , & , * "0& , 0+ ) O$ O$ ,:L 01( * O$ ,:L, ; 0 d >L > * % -( 9 $1( "7F1( % $* ;, " &! , 78 6 *( ( R0 " #$ % & , 0+ ) , 7FA ) % ;, F19 >F ( ( %*P , $ , " #$

% & , 0+ ) ! , 10 + ( ( R0 " #$ % & / " #$ % & ( ( , 0; ) 9 7( , 19 >F ( ;, /7F1 ) : ;, ,0;,

o ;, R5 " #$ % & d ( ( R0 " #$ % & , $1 "0 ) > A ,?( (71(

=$1( "?( ($8 9 # A* / A ,:L R A* !0 , ( ( ,0! /7F1( !0 ,

> A 9 # ,78 , 7FA ) @$A ) ,:0 ) ( ( > A 9 + ,?( ( $ ) O$( ( >? @$1 ! 01 d ,? ,0 ($1 , & 6 P "7F1( " # ( 9 F8 ( 7F ) '

T ; ,:F8 ,$* ; ,? d R ; ,:F8 )0( O$ * @$A ) " & ( $* & "0& 671

@5( ( $* & , A " 9 )0 A : (0A (0 , & ( $* & "0& % &$

" ( 8! > A " @$ ) )$* + , -( ( $ ) " & "0 ( ( " 1 /7F1 )

% 0+ ) " 7 , "0 d O$ ) , 0+ )d /71(d 7 ) 6$ ;,d %?( , 7F(d

@ ( $* & d ,0;( "0 R Y ) 9 7F ) 9 9 " / A R ; "0& ( $ ), A ,? $ " ;$ ,:$( , ;, R5 "0 )0#! R , A 9 # k R0

9 ( $* & "0& * ( 8! R ; d (F ( ;$ "0 " > A ( ( 6F "0# ! 1(,:$ ) ) * ! 1( ) (0+ ) ,? $ >? @$1 7 ! 1( % $ ;(

" 1 d ( ^ /7$d 0& "5 8! R ; Q Q / A! 9 # ,78 "0 /7FA ),:0 ) ( ( R ! 6 , )0( O$ *d ,:$* # ( ^ , 5 )0( O$ * F8 (71 /* Q

! A % 0+ ) , 71( "7F1( R Y ) (F % ? T ; 9 Q0 * * (0A )01/ A R ; 9 O$ * @$A ) " & R ; "0& " 9 ($8 ($0 6F ( ;9 0 K()0( O$ * ($8 ($0 6F ( ;9 , A ,? $ : ,7F ) 7 ) >F ( $ )

T ; 9 Q0 * 6 d (06 " & "0 )0( O$ * ($8 :0+,0d ,: + " K, ($0 6F( ;9d , A " 9 ,^ / , $ >F 6 * (06 ($8 )0( O$ * "0

T ; 9 Q0 * ,$* ; ,? R ; "0& "0 / ( )0( O$ * ($8 :0+,0 , A

" 9 ,^ / ,$* ; ,? 0 O$ * R ( ,71 @0 > A (0 O$ * ' R (,71 @0 "7F1( 678 @$1 ) / A! ( ( R0 ( 8! R ; "0 6 / ( )0( > A "0 ,0;(

>0A ) > 1( d )0 A ,:0 ) T (0 ($A ) 60; > 1( d 7 ) / ( < 0g> 1(,:7F( T / A <0) ;$ "i ! P O$ * , 0 ( #$ % ! "0# ) 0# , L( $0j Q$ ) T 6 P F ( $0j Q$ ) / A e' ( $ %*A > A )7F1(/ 1

;, R5 "0 ,0;( "0 7 U ( 0! , :d ( 0! , :d

9, ( / ( 0! , :

( 9 # ,78 ( ;9 A , 7FA ) @$A ) ,:0 ) / A ( ( /0 1

"0 ) (F R7F(d "0 ) (F U d 6 :>0!0,0:d "0 ) (F d "0 ) (F , $8*/71( % ? 0 ) (F R7F( "7F1( @$A ) " & "5 >5 ( ? Q ( @0 (0( ;$ ,:$( :0+,0 > A 6, ,0 % " K( R , V0+,0 , 0+ ) , 7FA ) / A ( ( !( +! >i (78$ (0 ( 1 "7F1( Q 8 : P : f ) (7 6$0;, ( $ > ($8:0+,0d " & , 9 ,:$ ) "7FA ) 67( ,7A , 1 ( ( !$P : f ) 7F ) ,71d 6, ,0

"7F1( ( ; , 10 , 0+ ) @$1 ) (0 R0; R0; @ +* O$ ; Q % P , 0 ( ( ,7A(71( (0 @0A ) " ( 1* O$ !0 , ($0 @ +* 6, ,0d :0+,0 6 P O$ *

" #$ % & ,: + " P "7F1( , 71( , R Y ) ( ( ( 7F ) ,:L 9 #

Z ! )0P > A0 ,7F ) ,71 (0 , & / 9 ,:L "7F1( ±2Yd ±'d2Yd

± d'2Yd ±<dE'2Yd ±<d '2Y

Z 7F ) ,:L " #$ % & ) 0 @ , + , >F )7FA 678

@$1 )

? @$1 :@ ) 0 , ;9 678 @$1 ) N'22 ) - ,: + 6/0, !F8 :0 )($8 = T0 :@ ! * ,? g h

VH' ' 6 : / , :m ( d ( ;$ 0; '2 ( + @$A ) " & ,:$* # @7P/ $ 0; , ;9 >F ,0;( "0 08 F '< <<< 1 'e' g f! E h

0 8 ) G2 " ; GG 9 @$1 ) VHZ3''d VHZ3' d VHZ33 VHZ

33 ( ;$ 0; G ( + d ,0;( "0 ,:$* # (0 , & ) ;9 f! / # 60

>F VHZ' '

A0 f! G<Z G2 9 , ,: & T$6 @7P / $ 60 ) 60 ) >FZ3NN

f! GN Z Z 2N (0 6/0,6 ( 0 '2 !0@$/6d 0; ,:71( , ;9

>F T$6 e ($8 ! * ,? d 0; 60 ) 60 ) ,F G V H

"F % + Z N<' 3 H )/ Z / H*6, !6

0;( "0 @7P / $ 2÷ < 6 1 'e' d , # 60; g ;:h "0; >F

R :* / A 2÷ < ;:d R :* < , f ) ) ;9 / # <÷'< ;:

'N

'

1 20

0;( "0 @0A ) ( 8* )0P : O$ > Y / A R ; "0& d , 0; ) (0, & @$* ,:L !7( ( ;, /08 ) p ' >F 6 60; ( 0 9 9 % ( ?

Q ( ;$ !7( ( ;, /08 ) ,:0 ) R & % 0+ ) "$ )d !0 , " 9 6/ ( "7F1( , 10 : O$ % $ ;( " 1 "7 > A0 R0 " #$ % & "0 ) (F

" #$ ( ^ > Y' " & % 0+ 9 $1( / 1 !7( ( ;, /08 ) !0 ) !$0;

R Y ) ( ( " #$ ( ^ ,0;( "0 @0A ) ( 8* )0P > A0

:0 ) ,:7FA ) F19 @0A ) ( 8* > A0 (0 ,0;( "0 Y ) 60;d 9 0 (0( K9 , ;9 " &! , 7FA ) "0 )d , 7FA ) !F8 " & " #$ % & "0 )

" K, F8 Q , 0; ) T ; ,:F8 a' ( 0 ,? $ 0# , ;9 ,:F8 > # R0

% $ ;( " 1 > 6 d 0 1, "0 ) 7 !0 , R0 9 , 6 / ( ;$(0 6 / ( d "7F1( % $ ;( " 1 "7 " ; "0 ) (Fd " #$ ( ^ >5 ,:?,:$1( )0P : ,7F ) 7 ) >F >5 ,:? ,:$1( )0P > A0 > A 6 / ( R Y ) <

R0 ( ^ /7$ H Vd , * "0& > ,0;( 6 0 ( 0 ω = ω ( =$1( , +$

" #$ % & " 1, 6 60; Q ( / 9 R Y ) < )$* + , -( %?( H V, 7FA ) "7F1( 678 @$1 ) / A ,$* ; ,? )0( αd 9 7F ) 9 9 (06 > A

@$1 ) ($8 ( $ ) ,:0 ) #$ , 0; ) ( ; , 10 % ( $ " P "7F1(

9 , ,: & ( 0 ) 4* , $* ;, " #$ % & ,71 "0 )d )$* +, -( " #$ % & , ?( ) d ( ( A! 4* 9$ 0>q "7F1( 9 @$1 ) " & (0

"7F1( V0R0, (78 "0 ) , 0 * !$0; * /71( ( # , ;, 4i >71( ($8V0R0, (6 ($P ) ,$A* , $0 ( > A0 ( ( 678 @$1 ) ( ( ( 8! R ; O$ 6 ,

> A ( ( ! * ,? " & / 9 ,:L ( 0 V0R0, 0 A , A (0+ ) > (, 0 * +$ ( #$

V0R0, " P "7F1( 6 ) , 10 : " & , 71( #$ (0+ ) > ( % (

$d / A! ( #$ 0; ) 7P ( ( /i >71( ( ; , 10d ( ( ! >$1 > ( $* & % 0+ ) ) > A ( f! 60( * , ; D ) @$1 ) ( $8 * ;$ ($8 V0R0,/ A ,71 "0 ) 0 O$ ,:L 6 8 Q$ ;, V0R0, "7F1( 678 @$1 ) ,:0 ) @ +*( $* # 6 8 Q$ ;, Q F d / A !0 , , A 9 # ,:0 ) , A$ (0 , 0

% 0+ ) ) ($8 H d / A R 1 ) $9 > ( ( 0 (0 )7FA q V0R0, ,:F1) $9 ,:0 ) ( ( R > d , 71( ( ( (0+ ) > ( ($8 * , ( f!60( R + ( V0R0, A* 678 @$1 ) ( ( ( 8! R ; O$ 6 ,d

NZ :0 ) " #$ % & 0 Z0mm ( ( "0; ,7F1 ) % ( $ 7 , )

! *d " #$ A 9 + 9 0; " d ( ( @ +* ( $* # 6 8 Q$ ;,d, 0; ) 9 + ( ;9d " #$ % & ( ( O$ ,:L (0+ ) ) q , 7FA ) 678

@$1 ) R0 /0) ( / 9 ,:L "7F1( 4 r :0): !! R/ /0) ( 0 ,:0/.4 / A !0 , ! * ,? 60; (0+ ) ) 9 R 0 )0#! R0 Q78 /*d R0 FdR0 " #$ % & > A , ;, R5 > A0 r :

0& ) O$ ,d !0 , , 0; ) " #$ % & 9 + 9 0; ($8 !0 , @ +*( $* # 6 8 Q$ ;, (0 , & R 0 )0#! #$ , 0; ) " #$ % & ! *(0+ ) ($1 d U g_ C 6 hd ( ( V0R0, (0+ )) 9 ( 0 ,7A ) (0+ ) "0 1 d ( ( R0 4 / 9 ,:L ! #! @ 80d ( (

!0@$/6 , $ , 9 > A Q78 /* @7P / $d R0 " #$ % & ,:$ ) , +!

s$ 7F ) ($8 ( ( 6 8 9 &! ,71 "0 ) 0 ,: + , ; ) F / A !7(

"0 , 0+ ) ! ($8 ( $ ) ) A* ( A ) ( 0 ( , 0; ) " #$ % &, 9 ,:$ ) 6 P ( $* & @ # 6 ) ( ( , 0; ) 9 + , ( (0 0 , 0 1

>F $ / + % ;, , A ! 1 ) ;, % ; 6 8 9 &!d 6 P "7F1( 0j ,:F1

($8 ! * ,? ,F !7( ,0; " >F ( ( , 7 > d ( ( ( 7F ) ,:L, ;, % ; " K( ( $8 ) (0 , ;, R5 )0 1 > ! 1

( , 0; ) Ue = (0 "0 / 0 1, ( 0 " 9 7 ) ( ( $( #$ , * "0& ! j$ ! P 6 8 9 &! 9 $A F19 >F , 5 ;$ )7FA, +$ @$A )

= * ,? > A V0R0, 6 P / A! ($0 ( ( ( ! 1 ) (0+ ) ) 9 , 7,: + , ; ) F ( @ +* ( $* # (0+ ) ) 6 P "7F1( ! 1 ) ! *,? " #$ % & g =h " 8! R 80 6 8 9 &! (0 ( ;, /7F1 ) ( 0 > A) , A : 8

) A > ( $* & R Y ) "7FA ) : * > A "7FA ) % 0+ ) " P " 1,

"7F1( 7P ) , ; R0 >i " 1 k , 0; ) Q /78 " ,7A F8 ,d

T :/ d =*P >F ,0;( "0 6 +$ ( 0d R$0# ) / , + , ; ($8 =(U0 //U0$)/ 6 >F , 0; ) ,71 / ( , 0; ) O$ + 671k ! * R *d , A$) #! ( 1* R Y ) f ) /7F1 ) 1, + d , A$ $ 7 ) R # ! K,d , A$( ) #! ( , 0; ) " #$ % & ( ( R0 9 ,:0 ) * % 0 k( ( R0 9 + , 10 ,:0 ) (F , &d " #$ % & , ! ($8 (0)7FA

, 0; ) " #$ % & 60; ! * (0+ ) ($1 , 0 ( 7F ) ,:L

g h , 10 : ( ( 9 7F ) 9 9 ) (0+ ) !F (0 ,? > 6 !0+,:7FA ) ( 0 7 9 7F ) 9 9 ) (0+ ) R Y ) / \ :d " 0 d 6 +$+!

( 9 ; , 8 F8 !0j % +$ "7F1( ) + (7$ " & @$A ) 7 @ 1 ))$* + / $ ( 0 % +$ % ; , ;9 ($8 !0 , ) A 6 8 Q$ ;, % (

0; ,7F1 ) ) + (7$ ($8 /* , $* ;, " #$ % & : ;, " @ 1 )

> A (0 R 8 ( ;, > , /* % ( $ 7 , 0; ) " #$ % & "0 )(Fd /0A ,d ! * R *d 9 8 7 ) 0 01( U0 "0d ( # (0 (F 6F8 " &

9 + ,?( d , ;, % ; ( ( , 0; ) " #$ % & (0 R 8 ( ;, > , /*

% ( $d (F 6F8 "0 ( ? / A ,0 01( 0& ) O$ , O$ ) 7P,? $ > A0 > A ,? $ : ($8 , 0; ) ,$* ; ,? (0 , & R &$

@ j R Y ) 9 7F ) ,:L > 9 + R ( ( 0 ( % 80 6 , , 0; )

@71 > A0 9 7F ) ,:L > 9 + R ( ( 0 , 7FA ) ) K9 #$ % 0

% f 0 9 7F ) 9 9 !0+ , 8 ,0 01( , 0; ) ,71 "0 ) ) $9( 0 > ( % 80 6 , , 0; ) @ j @ A ) F d "0 / A 3 3 3 6

% N

c '

`

'

( )( )

@ : ( ? $ : ($8 , 0; ) ,71 "0 ) ($P ) (0 @ 1 ) / A ,0& F19($8 ( ( ,? $ (F R 8 7 A! ;(d A! !$Pd A! 6 d q U0 "0,:0 ) !$1( A* ( $ ) , Q , R ; "0& 4 9/ ( ($8 ( ( A! (F R 8

" & 678 @$1 ) ,:0 ) > ( 9 + ,?( > A , ;, % ; , 0; ) F8 7P )( 7F ) 6 $

D K = A ] 6 ^ ];0 0 ^

A! Q$ ) "F >5 , 7FA ) "7F1( 678 @$1 ) " & !0+ , 8 j$ , (

"0 ) > A0 , 0; )

% 3<

D G = A ] 6 a! ^ ];0 0 ^

A! @0;( "F >5 , 7FA ) "7F1( 678 @$1 ) / A! ,? $ > A0 " &

% 80 6 , , 0; ) " #$ % & , 0 @0P

[

[( ) ( )  ≥